Soil cultivation implement control apparatus and method

Abstract

A soil cultivating apparatus including a tractor (2) towing a row cultivator (4) by means of a three-point linkage (6). The row cultivator (4) includes a fixed portion (8) and a moveable portion (10) having soil scarifying tools (18a-18n). The movable portion (10) is laterally moveable relative to the fixed portion (8) by means of linkages (12a-12d) and is effected by a hydraulic actuator (22) under control of tool-bar control system (20) which is able to determine the position of the moveable portion (10) relative to the fixed portion (8) by means of a sensor (24). Mounted upon the moveable portion (10) is a DGPS antenna (26) GPS receiver that forms part of the control system (20). The control system (20) has a microprocessor which operatively executes a stored program. The microprocessor receives data from an intra-rig sensor and from the GPS receiver specifying the absolute coordinate of the movable portion (10) relative to the earth. On the basis of the data received and in accordance with the instructions in the program, the microprocessor generates a series of lateral motion commands which controls the hydraulic actuator (22). An operator of the system may enter coordinates defining a desired line of travel of the movable portion (10) by means of a data entry device. Command prompts and other feedback to the operator are displayed by means of a screen.

Dependencies are inferred from the claim text.